Actuator drive control device for active vibration isolation support system, and actuator drive control method for the same

ABSTRACT

In an actuator drive control device for an active vibration isolation support system, accumulated time of eight time intervals tn of crank pulses which are outputted at every 15 degrees of a crank angle in a vibration period corresponding to 120 degrees of the crank angle, and average accumulated time shown by a straight line connecting a start point and an end point of the line of the accumulated time are calculated. Eight deviations Δtn are calculated by subtracting the average accumulated time from the accumulated time. A variation waveform of the deviations Δtn corresponds to a variation waveform of the time interval tn of the crank pulses attributable only to the engine vibration with the influence of a variation in the engine rotational speed Ne being eliminated.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates to an actuator drive control device and anactuator drive control method for an active vibration isolation supportsystem, in which an operation of an actuator is controlled based on avibration state of an engine which is estimated from rotationalvariation of a crankshaft, so as to suppress transmission of vibrationfrom an engine.

2. Description of the Related Art

Such an active vibration isolation support system is known from JapanesePatent Laid-open No. 2003-113892.

This active vibration isolation support system, described in thereference, calculates a crank angular speed from a time interval ofcrank pulses which are outputted at each predetermined rotational angleof the crankshaft; calculates torque of the crankshaft from a crankangular acceleration obtained by differentiating the crank angular speedwith respect to time; estimates the vibration state of the engine as avariation amount of torque; and controls application of electricalcurrent to a coil of an actuator in accordance with the vibration stateof the engine, to effect the vibration isolation function.

FIG. 8A shows a variation waveform of the crank angular speed in thecase where an engine rotational speed Ne is substantially constant. Thevariation waveform of the crank angular speed is in a sine wave shape,the angular acceleration of the crankshaft can be approximated at avalue 2ω/T which is obtained by dividing a variation amount Δω by a halfof one period T. Accordingly, based on the difference between “+2ω/T”that is a positive crank angular acceleration in the one period of thevariation waveform of the crank angular speed and “−2ω/T” that is anegative crank angular acceleration, the torque variation of thecrankshaft, namely, the vibration state of the engine can be estimated.

In the example shown in FIG. 8A, the engine rotational speed Ne issubstantially constant, but when the conventional method is applied tothe case where the engine rotational speed Ne increases or decreases,the following problem occurs.

FIG. 8B shows a variation waveform of the crank angular speed in thecase where the engine rotational speed Ne increases. In this case, theregular variation amount Δω of the crank angular speed should bemeasured in the direction orthogonal to the straight line representingthe engine rotational speed Ne, but actually a variation amount Δω′ inthe direction parallel to the vertical axis is measured, so that thevariation amount Δω′ becomes smaller than the regular variation amountΔω. Accordingly, an error disadvantageously occurs when the vibrationstate of the engine is estimated based on the variation amount Δω′ inthe direction parallel to the vertical axis. This problem also occurs inthe case where the engine rotational speed Ne decreases.

The present invention has been achieved under the above-mentionedcircumstances, and has an object to accurately estimate a vibrationstate of an engine when an engine rotational speed increases anddecreases, thereby precisely controlling an active vibration isolationsupport system.

SUMMARY OF THE INVENTION

In order to achieve the above-described object, according to a firstfeature of the present invention, there is provided an actuator drivecontrol device for an active vibration isolation support system,comprising a control apparatus which controls an operation of anactuator based on a vibration state of an engine which is estimated froma rotational variation of a crankshaft, so as to suppress transmissionof a vibration of the engine, wherein the control apparatus calculatesaccumulated time of time intervals of crank pulse outputted at eachpredetermined crank angle for one period of engine vibration; calculatesaverage accumulated time averaged for the one period of enginevibration; and controls the actuator of the active vibration isolationsupport system based on the vibration state of the engine which isestimated from a variation waveform of deviation obtained by subtractingthe average accumulated time from the accumulated time at eachpredetermined crank angle.

According to a second feature of the present invention, in addition tothe first feature, the control apparatus calculates the averageaccumulated time based on the accumulated time over the one period ofengine vibration.

According to a third feature of the present invention, in addition tothe first or second feature, the control apparatus calculates torquearound the crankshaft based on the deviation at each predetermined crankangle, and estimates the vibration state of the engine based on adifference between the maximum torque value and the minimum torque valuewhich are adjacent in time.

In order to achieve the above-described object, according to a fourthfeature of the present invention, there is provided an actuator drivecontrol method for an active vibration isolation support system, forcontrolling an operation of an actuator based on a vibration state of anengine which is estimated from a rotational variation of a crankshaft inorder to suppress transmission of engine vibration, the methodcomprising: a first step of calculating accumulated time of timeintervals of crank pulse outputted at each predetermined crank angle forone period of engine vibration; a second step of calculating averageaccumulated time averaged for the one period of engine vibration; athird step of calculating deviation obtained by subtracting the averageaccumulated time from the accumulated time at each predetermined crankangle; a fourth step of estimating the vibration state of the enginefrom a variation waveform of the deviation; a fifth step of controllingthe actuator of the active vibration isolation support system based onthe vibration state of the engine.

According to a fifth feature of the present invention, in addition tothe fourth feature, the second step calculates the average accumulatedtime based on the accumulated time over the one period of enginevibration.

According to a sixth feature of the present invention, in addition tothe fourth or fifth feature, the fourth step calculates torque aroundthe crankshaft based on the deviation at each predetermined crank angle,and estimates the vibration state of the engine based on a differencebetween the maximum torque value and the minimum torque value which areadjacent in time.

With the first, second, fourth and fifth features, it is possible toobtain the variation waveform of the crank pulses in the time intervalswhich is attributable to only the engine vibration, by subtracting theaverage accumulated time from the accumulated time at each predeterminedcrank angle to eliminate the influence of the variation in the enginerotational speed; and estimate the vibration state of the engine fromthe thus-obtained variation waveform. Therefore, the engine vibration isappropriately estimated, and the actuator of the active vibrationisolation support system is precisely controlled to allow the activevibration isolation support system to effectively exert its vibrationisolation function.

With the third and sixth features, the influence of the variation in theangular speed of the crankshaft attributable to the increase anddecrease of the engine rotational speed is properly eliminated, thusprecisely estimating the actual vibration state of the engine.

The electronic control unit U in the embodiment corresponds to thecontrol apparatus of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a vertical sectional view of an active vibration isolationsupport system according to an illustrative embodiment of the presentinvention.

FIG. 2 is a sectional view taken along the line 2-2 in FIG. 1.

FIG. 3 is a sectional view taken along the line 3-3 in FIG. 1.

FIG. 4 is an enlarged view of an essential part of FIG. 1.

FIG. 5 is a flow chart explaining an operation of an embodiment.

FIG. 6 is a diagram explaining step S5 of the flow chart in FIG. 5.

FIG. 7 is a diagram explaining the relationship between the timeinterval of the crank pulses and the vibration period.

FIGS. 8A and 8B are diagrams explaining a conventional method forobtaining the crank angular acceleration.

DESCRIPTION OF THE PREFERRED EMBODIMENT

One exemplary illustrative embodiment of the present invention will bedescribed with reference to the accompanying drawings.

An active vibration isolation support system M shown in FIG. 1 to FIG. 4elastically supports an engine E (V-type four-cycle six-cylinder enginein this embodiment) of an automobile in a vehicle body frame F. Thesystem is controlled by an electronic control unit U to which a crankpulse sensor Sa is connected for detecting crank pulses that areoutputted accompanying rotation of a crankshaft of the engine E.Twenty-four crank pulses are outputted per rotation of the crankshaft,that is, one crank pulse is outputted for every 15 degrees of crankangle.

The active vibration isolation support system M has a structure that issubstantially symmetrical with respect to an axis L. The system Mincludes an inner tube 12 that is welded to a plate-shaped mountingbracket 11 that is joined to the engine E, and an outer tube 13 that isplaced coaxially on an outer periphery of the inner tube 12. The innertube 12 and the outer tube 13 are bonded by vulcanization bonding to anupper end and a lower end, respectively, of a first elastic body 14 madeof thick rubber. A disc-shaped first orifice-forming member 15 having anaperture 15 b in its center, an annular second orifice-forming member 16having a dipper-shaped section open at the top, and an annular thirdorifice-forming member 17 similarly having a dipper-shaped section openat the top are welded together into a single unit. The outer peripheriesof the first orifice-forming member 15 and the second orifice-formingmember 16 are superimposed and fixed to a crimping fixing part 13 aprovided in a lower part of the outer tube 13.

The outer periphery of a second elastic body 18 made of a rubbermembrane is fixed by vulcanization bonding to the inner periphery of thethird orifice-forming member 17. An outer cap member 19, fixed byvulcanization bonding to the inner periphery of the second elastic body18, is fixed by press fitting onto a movable member 20 disposed on theaxis L to be vertically movable. The outer periphery of a diaphragm 22is fixed by vulcanization bonding to a ring member 21 that is fixed tothe crimping fixing part 13 a of the outer tube 13. An inner cap member23, fixed by vulcanization bonding to the inner periphery of thediaphragm 22, is fixed onto the movable member 20 by press fitting. Theinner cap member 23 fits closely inside the outer cap member 19.

A first liquid chamber 24, which is charged with a liquid, is thusdefined between the first elastic body 14 and the second elastic body18, and a second liquid chamber 25, which is charged with a liquid, isthus defined between the second elastic body 18 and the diaphragm 22.The first liquid chamber 24 and the second liquid chamber 25communicates with each other via an upper orifice 26 and a lower orifice27 which are formed by the first to third orifice-forming members 15, 16and 17.

The upper orifice 26 is an annular passage formed between the firstorifice-forming member 15 and the second orifice-forming member 16. Acommunicating hole 15 a is formed in the first orifice-forming member 15on one side of a partition wall 26 a provided in a part of the upperorifice 26, and a communicating hole 16 a is formed in the secondorifice-forming member 16 on the other side of the partition wall 26 a.Therefore, the upper orifice 26 is formed over substantially one roundfrom the communicating hole 15 a of the first orifice-forming member 15to the communicating hole 16 a of the second orifice-forming member 16(see FIG. 2).

A lower orifice 27 is an annular passage formed between the secondorifice-forming member 16 and the third orifice-forming member 17. Thecommunicating hole 16 a is formed in the second orifice-forming member16 on one side of a partition wall 27 a provided in a part of the lowerorifice 27, and a communicating hole 17 a is formed in the thirdorifice-forming member 17 on the other side of the partition wall 27 a.Therefore, the lower orifice 27 is formed over substantially one roundfrom the communicating hole 16 a of the second orifice-forming member 16to the communicating hole 17 a of the third orifice-forming member 17(see FIG. 3).

As a result of the above description, the first liquid chamber 24 andthe second liquid chamber 25 communicate with each other via the upperorifice 26 and the lower orifice 27 which are connected to each other inseries.

An annular mounting bracket 28 for fixing the active vibration isolationsupport system M to the vehicle body frame F is fixed to the crimpingfixing part 13 a of the outer tube 13, and an actuator housing 30constructing an outer shell of an actuator 29 for driving the movablemember 20 is welded to a lower surface of the mounting bracket 28.

A yoke 32 is fixed to the actuator housing 30, and a coil 34, woundaround a bobbin 33, is housed in a space surrounded by the actuatorhousing 30 and the yoke 32. A bottomed cylindrical bearing 36 is fittedin a tubular part 32 a of the yoke 32 fitted in an inner periphery ofthe annular coil 34. A disc-shaped armature 38 facing an upper surfaceof the coil 34 is slidably supported on an inner peripheral surface ofthe actuator housing 30. A step part 38 a formed on an inner peripheryof the armature 38 engages with an upper part of the bearing 36. Thearmature 38 is biased upward by a disc spring 42 that is disposedbetween the armature 38 and an upper surface of the bobbin 33, and ispositioned by engagement with a retaining part 30 a provided on theactuator housing 30.

A cylindrical slider 43 is slidably fitted in the inner periphery of thebearing 36, and a shaft part 20 a extending downward from the movablemember 20 loosely penetrates through an upper base part of the bearing36 to be connected to a boss 44 that is fixed to an interior of theslider 43. A coil spring 41 is disposed between the upper base part ofthe bearing 36 and the slider 41. The bearing 36 is biased upward bythis coil spring 41, and the slider 43 is biased downward by the coilspring 41.

When the coil 34 of the actuator 29 is in a demagnetized state, anelastic force of the coil spring 41 acts downward on the slider 43slidably supported in the bearing 36, and an elastic force of a coilspring 45 disposed between the slider 43 and a base surface of the yoke32 acts upward, so that the slider 43 stops at a position where theelastic forces of both the coil springs 41 and 45 are in balance. Whenthe coil 34 is excited in this state so as to draw the armature 38downward, the step part 38 a pushes the bearing 36 to slide it downward,thereby compressing the coil spring 41. As a result, the elastic forceof the coil spring 41 increases, thereby lowering the slider 43 whilecompressing the coil spring 45, the movable member 20 that is connectedto the slider 43 via the boss 44 and the shaft part 20 a descends, andthe second elastic body 18 connected to the movable member 20 deformsdownward, thus increasing the capacity of the first liquid chamber 24.Conversely, when the coil 34 is demagnetized, the movable member 20rises, the second elastic body 18 deforms upward, and the capacity ofthe first liquid chamber 24 decreases.

When a low-frequency engine-shake vibration occurs while the automobileis traveling, if a load inputted from the engine E deforms the firstelastic body 14, thus changing the capacity of the first liquid chamber24, the liquid travels between the first liquid chamber 24 and thesecond liquid chamber 25, which are connected via the upper orifice 26and the lower orifice 27. When the capacity of the first liquid chamber24 increases and decreases, the capacity of the second liquid chamber 25decreases and increases accordingly, and this change in the capacity ofthe second liquid chamber 25 is absorbed by the elastic deformation ofthe diaphragm 22. Since the shapes and dimensions of the upper orifice26 and the lower orifice 27 and the spring constant of the first elasticbody 14 are set so that a high spring constant and a high attenuationforce can be obtained in a region of the frequency of engine shakevibration, the vibration that is transmitted from the engine E to thevehicle body frame F can be reduced effectively.

In this frequency region of the engine shake vibration, the actuator 29is maintained in a non-operational state.

If vibration having a frequency higher than that of the engine shakevibration, namely, idling vibration or muffled sound vibration due tothe rotation a crankshaft of the engine E occurs, the liquid within theupper orifice 26 and the lower orifice 27 which connect the first liquidchamber 24 and the second liquid chamber 25 is brought into a stickstate and cannot exhibit the vibration isolation function, and thereforethe actuator 29 is operated so as to exhibit the vibration isolationfunction.

Next, the details of the control of the actuator 29 of the activevibration isolation support system M will be described with reference tothe flow chart in FIG. 5 and the time chart in FIG. 6.

First, in step S1, a crank angle of a vibration period of an engine E isdetermined. In the four-cycle six-cylinder engine E in the embodiment,six explosions occur while the crankshaft makes two rotations, andtherefore the crank angle of the vibration period is 120 degrees. Inthis vibration period, eight crank pulses are outputted at every 15degrees of the crank angle. When the cylinders on one side of the V-typeengine E of this embodiment are inactivated, three explosions occurwhile the crankshaft makes two rotations, and therefore the crank angleof this vibration period is 240 degrees, during which period, 16 crankpulses are outputted.

In the subsequent step S2, eight crank pulses in a vibration period Tare read, and the time intervals of the crank pulses are calculated. Asshown in FIG. 7, eight crank pulses are outputted during the vibrationperiod T, and the time intervals tn (t1, t2, t3 . . . t8) vary accordingto the variation in the angular speed of the crankshaft.

Namely, in the explosion stroke of the engine E, the crank angular speedω increases and the time interval tn becomes short, in the compressionstroke of the engine E, the crank angular speed ω decreases and the timeinterval tn becomes long, but in the other strokes in which the enginerotational speed Ne increases, the time interval tn becomes short due toan increase in the crank angular speed ω, and in the other strokes inwhich the engine rotational speed Ne decrease, the time interval tnbecomes long due to a decrease in the crank angular speed ω.Accordingly, the time interval tn of the crank pulses as shown in FIG. 6includes a factor attributable to a variation in the crank angular speedω accompanying the vibration in each vibration period T of the engine E,and a factor attributable to a variation in the crank angular speed ωaccompanying an increase and decrease of the engine rotational speed Ne.

Among the above-described two factors, it is the former factor(variation in the crank angular speed ω accompanying the vibration) thathas an influence on the control of the active vibration isolationsupport system M, and thus it is necessary to eliminate the latterfactor (variation in the crank angular speed ω accompanying the increaseand decrease of the engine rotational speed Ne) which does not have aninfluence on the control of the active vibration isolation supportsystem M.

Accumulated time Σtn=t1+t2+t3+ . . . +t8 of eight time intervals tn ofthe crank pulses is calculated in the subsequent step S3. Theaccumulated time Σtn corresponds to the vibration period T.

In the subsequent step S4, the average accumulated time of the eighttime intervals tn is calculated. As is obvious from FIG. 6, the line ofthe accumulated time is curved in the shape of S, but the line of theaverage accumulated time is the straight line connecting the startingpoint and the end point of the line of the accumulated time. Namely, theaverage accumulated time corresponds to the accumulated time in the casewhere the crank angular speed ω is constant, and the value of theaverage accumulated time increases by T/8 each time the crank angleincreases by 15 degrees.

In the subsequent step S5, eight deviations Δt1, Δt2, Δt3, . . . , Δt8are calculated by subtracting the average accumulated time from theaccumulated time at each position at every 15 degrees of the crankangle. The line curved in the shape of S at the lower side in FIG. 6represents a deviation Δtn, and this line corresponds to a variationwaveform of the time interval tn of the crank pulses from which theinfluence of the variation in the engine rotational speed Ne iseliminated, namely, the deviation with respect to the time interval tnof the crank pulses in the case where the crank angular speed ω isconstant.

When it is assumed that the engine vibration does not exist, if theengine speed Ne is constant, the accumulated time of the time intervaltn increases linearly as in the case of the average accumulated time,but when the engine rotational speed Ne increases and decreases, theaccumulated time of the time interval tn deviates from the linearaverage accumulated time. However, in this embodiment, by using thelinear average accumulated time obtained by averaging the enginerotational speed Ne, which actually varies, as the reference, thedeviation Δtn from the average accumulated time is calculated, wherebythe influence of the variation in the engine rotational speed Ne iseliminated, thus obtaining the deviation Δtn attributable to only thevibration of the engine E. This is nothing but obtaining the deviationof the actual angular speed with respect to the average angular speed ofthe crankshaft.

In the subsequent step S6, the crank angular speed ω at every 15 degreesof the crank angle is calculated based on the deviation Δtn. Namely, ifthe crank angular speed ω is a constant value, each of the crank angularspeeds ω is the result of dividing the crank angle of 15 degrees by ⅛ ofthe vibration period T, but actually the crank angular speed ω is givenby15°÷(T/8+Δtn)due to the existence of the deviation Δtn.

In the subsequent step S7, the crank angular acceleration dω/dt iscalculated by differentiating the crank angular speed ω with respect totime, and further in step S8, the torque Tq around the crankshaft of theengine E is calculated byTq=I×dω/dtwhere I denotes the moment of inertia around the crankshaft of theengine E. In step S9, the maximum torque value and the minimum torquevalue that are adjacent in time are determined, and the vibration state(amplitude) of the engine E is calculated as a difference between themaximum value and the minimum value of the torque, namely, the amount ofchange in torque.

The vibration state of the engine E thus calculated is highly precisebecause the influence of increase and decrease of the engine rotationalspeed Ne is eliminated. Therefore, the actuator 29 of the activevibration isolation support system M is precisely controlled, thusenhancing the vibration isolation function.

The embodiment of the present invention has been described in detailabove, but the present invention can be modified in design in a varietyof ways without departing from the subject matter of the invention.

For example, the active vibration isolation support system M is notlimited to the one charged with a liquid, but may be the one using apiezo element.

In the embodiment, the active vibration isolation support system M forsupporting the engine E of an automobile is shown as an example, but theactive vibration isolation support system M of the present invention isapplicable to support for any engine not for an automobile.

Further, in the embodiment, the accumulated time of eight time intervalstn of the crank pulse is calculated, that is, accumulated timeΣtn=t1+t2+t3+ . . . +t8, and the accumulated time Σtn is shown in FIG. 6as the terminal point of the line of the accumulated time. However, theaccumulated time Σtn may be calculated from the rotational speed of theengine without accumulating the time intervals tn. Specifically, sincethe accumulated time Σtn corresponds to a crank angle of 120° in thesix-cylinder engine of the embodiment, the accumulated time Σtn may becalculated as time required for a crank angle of 120° from the enginerotational speed.

Furthermore, since the time interval tn of the crank pulse aftereliminating the influence of the variation in the engine rotationalspeed Ne is in proportion to an amount of the torque variation, theamount of the torque variation can be calculated by multiplying the timeinterval tn by a predetermined coefficient. Therefore, the torquemaximum value and the torque minimum value in step 9 can be easilycalculated from the amount of the torque variation.

1. An actuator drive control device for an active vibration isolationsupport system, comprising a control apparatus which controls anoperation of an actuator based on a vibration state of an engine whichis estimated from a rotational variation of a crankshaft, so as tosuppress transmission of a vibration of the engine, wherein the controlapparatus calculates accumulated time of time intervals of crank pulsesoutputted at each predetermined crank angle for one period of enginevibration; calculates average accumulated time averaged for the oneperiod of engine vibration; and controls the actuator of the activevibration isolation support system based on the vibration state of theengine which is estimated from a variation waveform of deviationobtained by subtracting the average accumulated time from theaccumulated time at each predetermined crank angle.
 2. The actuatordrive control device for the active vibration isolation support systemaccording to claim 1, wherein the control apparatus calculates theaverage accumulated time based on the accumulated time over the oneperiod of engine vibration.
 3. The actuator drive control device for theactive vibration isolation support system according to claim 1 or 2,wherein the control apparatus calculates torque around the crankshaftbased on the deviation at each predetermined crank angle, and estimatesthe vibration state of the engine based on a difference between amaximum torque value and a minimum torque value which are adjacent intime.
 4. An actuator drive control method for an active vibrationisolation support system, for controlling an operation of an actuatorbased on a vibration state of an engine which is estimated from arotational variation of a crankshaft in order to suppress transmissionof engine vibration, the method comprising: a first step of calculatingaccumulated time of time intervals of crank pulses outputted at eachpredetermined crank angle for one period of engine vibration; a secondstep of calculating average accumulated time averaged for the one periodof engine vibration; a third step of calculating deviation obtained bysubtracting the average accumulated time from the accumulated time ateach predetermined crank angle; a fourth step of estimating thevibration state of the engine from a variation waveform of thedeviation; and a fifth step of controlling the actuator of the activevibration isolation support system based on the vibration state of theengine.
 5. The actuator drive control method for an active vibrationisolation support system according to claim 4, wherein the second stepinvolves calculation of the average accumulated time based on theaccumulated time over the one period of engine vibration.
 6. Theactuator drive control method for an active vibration isolation supportsystem according to claim 4 or 5, wherein the fourth step involvescalculation of torque around the crankshaft based on the deviation ateach predetermined crank angle, and estimation of the vibration state ofthe engine based on a difference between the maximum torque value andthe minimum torque value which are adjacent in time.